晃动基座行进间对准问题的QUEST算法

针对惯导系统晃动基座行进间初始对准问题,提出了一种基于重力矢量的QUEST(Quaternion Estimator)姿态最优估计算法。在传统基于重力矢量的初始对准方法基础上,将方向余弦矩阵的求解过程转换为Wahba问题,实现对重力矢量信息的充分利用,并通过QUEST算法实现了晃动基座下行进间粗对准的最优算法,改善了原有算法鲁棒性以及实时性等方面的问题。仿真和湖试实验验证表明,更改后的算法能够明显提高惯导系统在动基座下的姿态估计速度和精度,特别在周期性线振动环境下的对准精度能够提高一个数量级。多航次的湖试实验结果表明,改进后的算法能够有效提高航向对准精度,综合导航速度精度能够提高50%左右。

Application of quaternion estimator algorithm dedicated on alignment of swaying and moving carrier

An optimal attitude estimation method with Quaternion Estimator based on gravity vectors is developed to solve the initial alignment problem of the inertial navigation system in swaying and moving carrier.Based on the traditional initial alignment method with gravity vectors,the process of solving the direction cosine matrix is converted to Wahba problem,which can make full use of the gravity vector information and realize the optimal algorithm for the coarse alignment of the swaying basement by Quaternion Estimator algorithm.Simulation and lake experiments demonstrate that the modified method can significantly increase the precision and rapidity of the attitude estimation and the precision of the heading alignment on a swaying and moving cartier.The precision can be increased by one order of magnitude on the carrier with periodically linear movement,and the overall velocity precision can be increased by 50％.